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ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 307 | 1 Instructions
1.108. PathRecMoveBwd - Move path recorder backwards
Path Recovery
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© Copyright 2004-2010 ABB. All rights reserved.
Limitations
Movements using the path recorder cannot be performed on base level, i.e. StorePath has
to be executed prior to PathRecMoveBwd .
It is never poss... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 308 | 1 Instructions
1.109. PathRecMoveFwd - Move path recorder forward
PathRecovery
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1.109. PathRecMoveFwd - Move path recorder forward
Usage
PathRecMoveFwd is used to move the robot back to the position where PathRecMoveBwd
was executed. It is a... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 309 | 1 Instructions
1.109. PathRecMoveFwd - Move path recorder forward
PathRecovery
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More examples
More examples of how to use the instruction PathRecMoveFwd are illustrated below.
VAR pathrecid start_id;
VAR pathrecid mid_id;
CONST robtarget p1 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 310 | 1 Instructions
1.109. PathRecMoveFwd - Move path recorder forward
PathRecovery
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Syntax
PathRecMoveFwd’ (’
[ ‘\’ ID‘ :=’ < variable ( VAR ) of pathid > ]
[ ‘\’ ToolOffs‘ :=’ <expression ( IN ) of pos> ]
[ ‘\’ Speed‘ :=’ <expression ( IN ) of sp... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 311 | 1 Instructions
1.110. PathRecStart - Start the path recorder
Path Recovery
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1.110. PathRecStart - Start the path recorder
Usage
PathRecStart is used to start recording the robot’s path. The path recorder will store path
information during exe... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 312 | 1 Instructions
1.110. PathRecStart - Start the path recorder
Path Recovery
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More examples
More examples of how to use the instruction PathRecStart are illustrated below.
Example 1
VAR pathrecid origin_id;
VAR pathrecid corner_id;
VAR num cho... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 313 | 1 Instructions
1.110. PathRecStart - Start the path recorder
Path Recovery
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Syntax
PathRecStart
[ ID ’:=’] < variable ( VAR ) of pathrecid> ´;´
Related information
For information about
See
Path Recorder Identifiers
pathrecid - Path recorder i... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 314 | 1 Instructions
1.111. PathRecStop - Stop the path recorder
Path Recovery
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1.111. PathRecStop - Stop the path recorder
Usage
PathRecStop is used to stop recording the robot’s path.
Basic examples
Basic examples of the instruction PathRecStop ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 315 | 1 Instructions
1.111. PathRecStop - Stop the path recorder
Path Recovery
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MoveL p5, vmax, z50, tool1;
MoveL p6, vmax, z50, tool1;
StorePath;
PathRecMoveBwd \ID:=id1;
PathRecMoveFwd;
RestoPath;
StartMove;
MoveL p7, vmax, z50, tool1;
ENDPROC
PRO... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 316 | 1 Instructions
1.111. PathRecStop - Stop the path recorder
Path Recovery
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The only difference in example2 is where the recorder was started the second time. In this
case PathRecMoveBwd \ID:=id1 will cause an error. This is because no recor... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 317 | 1 Instructions
1.112. PathResol - Override path resolution
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1.112. PathResol - Override path resolution
Usage
PathResol ( Path Resolution ) is used to override the configured geometric path sample time
defined in the system par... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 318 | 1 Instructions
1.112. PathResol - Override path resolution
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Program execution
The path resolutions of all subsequent positioning instructions are affected until a new
PathResol instruction is executed. This will affect the path... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 319 | 1 Instructions
1.113. PDispOff - Deactivates program displacement
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1.113. PDispOff - Deactivates program displacement
Usage
PDispOff ( Program Displacement Off ) is used to deactivate a program displacement.
Program displacemen... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 320 | 1 Instructions
1.114. PDispOn - Activates program displacement
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1.114. PDispOn - Activates program displacement
Usage
PDispOn ( Program Displacement On ) is used to define and activate a program displacement
using two robot pos... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 321 | 1 Instructions
1.114. PDispOn - Activates program displacement
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ProgPoint
Programmed Point
Data type: robtarget
The robot’s original position at the time of programming.
Tool
Data type: tooldata
The tool used during programmin... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 322 | 1 Instructions
1.114. PDispOn - Activates program displacement
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If the argument \Rot is used then the rotation is also calculated based on the tool orientation
at the two positions. The displacement will be calculated in such ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 323 | 1 Instructions
1.114. PDispOn - Activates program displacement
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The routine draw_square is used to execute the same motion pattern at three different
positions based on the positions p10 , p20 , and p30 . See the figure bel... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 324 | 1 Instructions
1.115. PDispSet - Activates program displacement using known frame
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1.115. PDispSet - Activates program displacement using known frame
Usage
PDispSet ( Program Displacement Set ) is used to define and activate a ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 325 | 1 Instructions
1.115. PDispSet - Activates program displacement using known frame
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Program execution
Program displacement involves translating and/or rotating the ProgDisp coordinate system
relative to the object coordinate sy... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 326 | 1 Instructions
1.116. ProcCall - Calls a new procedure
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1.116. ProcCall - Calls a new procedure
Usage
A procedure call is used to transfer program execution to another procedure. When the
procedure has been fully executed the pr... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 327 | 1 Instructions
1.116. ProcCall - Calls a new procedure
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Limitations
The procedure’s arguments must agree with its parameters:
•
All mandatory arguments must be included.
•
They must be placed in the same order.
•
They must be of... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 328 | 1 Instructions
1.117. ProcerrRecovery - Generate and recover from process-move error
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1.117. ProcerrRecovery - Generate and recover from process-move error
Usage
ProcerrRecovery can be used to generate process error during robo... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 329 | 1 Instructions
1.117. ProcerrRecovery - Generate and recover from process-move error
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Arguments
ProcerrRecovery[\SyncOrgMoveInst] | [\SyncLastMoveInst]
[\ProcSignal]
[\SyncOrgMoveInst]
Data type: switch
The error can be handled... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 330 | 1 Instructions
1.117. ProcerrRecovery - Generate and recover from process-move error
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More examples
More examples of how to use the instruction ProcerrRecovery are illustrated below.
Example with ProcerrRecovery\SyncOrgMoveIns... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 331 | 1 Instructions
1.117. ProcerrRecovery - Generate and recover from process-move error
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Asynchronously raised errors generated by ProcerrRecovery with switch
\ SyncOrgMoveInst can, in this example, be treated in the routine do_... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 332 | 1 Instructions
1.117. ProcerrRecovery - Generate and recover from process-move error
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PROC proc_on()
SetDO do_proc, 1;
CONNECT proc_sup_int WITH iprocfail;
ISignalDI di_proc_sup, 1, proc_sup_int;
ENDPROC
PROC proc_off()
SetDO do... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 333 | 1 Instructions
1.117. ProcerrRecovery - Generate and recover from process-move error
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Limitations
Error recovery from asynchronously raised process errors can only be done if the motion task
with the process move instruction is ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 334 | 1 Instructions
1.118. PulseDO - Generates a pulse on a digital output signal
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1.118. PulseDO - Generates a pulse on a digital output signal
Usage
PulseDO is used to generate a pulse on a digital output signal.
Basic examples
Ba... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 335 | 1 Instructions
1.118. PulseDO - Generates a pulse on a digital output signal
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Program execution
The next instruction after PulseDO is executed directly after the pulse starts. The pulse can
then be set/reset without affecting ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 336 | 1 Instructions
1.118. PulseDO - Generates a pulse on a digital output signal
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Error handling
Following a recoverable error can be generated. The error can be handled in an error handler.
The system variable ERRNO will be set t... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 337 | 1 Instructions
1.119. RAISE - Calls an error handler
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1.119. RAISE - Calls an error handler
Usage
RAISE is used to create an error in the program and then to call the error handler of the
routine.
RAISE can also be used in the e... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 338 | 1 Instructions
1.119. RAISE - Calls an error handler
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Arguments
RAISE [ Error no. ]
Error no.
Data type: errnum
Error number: Any number between 1 and 90 which the error handler can use to locate the
error that has occurred (the ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 339 | 1 Instructions
1.119. RAISE - Calls an error handler
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Program execution
Program execution continues in the routine’s error handler. After the error handler has been
executed the program execution can continue with:
•
the routine t... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 340 | 1 Instructions
1.120. RaiseToUser - Propagates an error to user level
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1.120. RaiseToUser - Propagates an error to user level
Usage
RaiseToUser is used in an error handler in nostepin routines to propagate the current error
or ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 341 | 1 Instructions
1.120. RaiseToUser - Propagates an error to user level
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ELSE
RaiseToUser \BreakOff;
ENDIF
ENDPROC
ENDMODULE
The division by zero in routine2 will propagate up to the error handler in main routine with
the errno ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 342 | 1 Instructions
1.120. RaiseToUser - Propagates an error to user level
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Program execution
RaiseToUser can only be used in an error handler in a nostepin routine.
Program execution continues in the error handler of the routine at... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 343 | 1 Instructions
1.121. ReadAnyBin - Read data from a binary serial channel or file
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1.121. ReadAnyBin - Read data from a binary serial channel or file
Usage
ReadAnyBin ( Read Any Binary ) is used to read any type of data from a ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 344 | 1 Instructions
1.121. ReadAnyBin - Read data from a binary serial channel or file
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More examples
More examples of the instruction ReadAnyBin are illustrated below.
Example 1
CONST num NEW_ROBT:=12;
CONST num NEW_WOBJ:=20;
VAR ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 345 | 1 Instructions
1.121. ReadAnyBin - Read data from a binary serial channel or file
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Because WriteAnyBin-ReadAnyBin are designed to only handle internal binary controller
data with serial channel or files between or within IRC5... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 346 | 1 Instructions
1.122. ReadBlock - read a block of data from device
Sensor Interface
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1.122. ReadBlock - read a block of data from device
Usage
ReadBlock is used to read a block of data from a device connected to the serial sensor
interface . ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 347 | 1 Instructions
1.122. ReadBlock - read a block of data from device
Sensor Interface
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FileName
Data type: string
The argument FileName is used to define a file to which data is written from the data block
in the sensor selected by the Block... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 348 | 1 Instructions
1.123. ReadCfgData - Reads attribute of a system parameter
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1.123. ReadCfgData - Reads attribute of a system parameter
Usage
ReadCfgData is used to read one attribute of a system parameter (configuration data).
B... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 349 | 1 Instructions
1.123. ReadCfgData - Reads attribute of a system parameter
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[\ListNo]
Data type: num
Variable holding the instance number of the Attribute + AttributeValue to be found.
First occurrence of the Attribute + ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 350 | 1 Instructions
1.123. ReadCfgData - Reads attribute of a system parameter
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Example 2
VAR num list_index;
VAR string read_str;
...
list_index:=0;
WHILE list_index <> END_OF_LIST DO
ReadCfgData "/EIO/EIO_SIGNAL/Unit/USERIO", "Name... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 351 | 1 Instructions
1.123. ReadCfgData - Reads attribute of a system parameter
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Syntax
ReadCfgData
[ InstancePath ’:=’ ] < expression ( IN ) of string >’,’
[ Attribute’ :=’ ] < expression ( IN ) of string >’,’
[ CfgData’ :=’ ] < vari... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 352 | 1 Instructions
1.124. ReadErrData - Gets information about an error
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1.124. ReadErrData - Gets information about an error
Usage
ReadErrData is to be used in a trap routine, to get information (domain, type, number and
intermixe... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 353 | 1 Instructions
1.124. ReadErrData - Gets information about an error
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ErrorType
Data type: errtype
Variable to store the type of event such as error, state change, or warning that occurred. Ref.
to predefined data of type errty... |
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1.124. ReadErrData - Gets information about an error
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Limitation
It is not possible obtain information about internal errors.
Syntax
ReadErrData
[TrapEvent ’:=’] <variable ( VAR ) of trapdata>’,’
[ErrorDomain’ :=’... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 355 | 1 Instructions
1.125. ReadRawBytes - Read rawbytes data
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1.125. ReadRawBytes - Read rawbytes data
Usage
ReadRawBytes is used to read data of type rawbytes from a device opened with Open\Bin .
Basic examples
Basic examples of... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 356 | 1 Instructions
1.125. ReadRawBytes - Read rawbytes data
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[\Time]
Data type: num
The max. time for the reading operation (timeout) in seconds (resolution 0,001s). If this
argument is not specified then the max. time is set to 60... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 357 | 1 Instructions
1.125. ReadRawBytes - Read rawbytes data
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Unpack data from rawbytes data
UnpackRawBytes - Unpack data from rawbytes
data on page 658
For information about
See
Continued
1 Instructions
1.126. RemoveDir - Delete ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 358 | 1 Instructions
1.126. RemoveDir - Delete a directory
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1.126. RemoveDir - Delete a directory
Usage
RemoveDir is used to remove a directory.
The user must have write and execute permission for the directory and the directory must... |
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1.127. RemoveFile - Delete a file
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1.127. RemoveFile - Delete a file
Usage
RemoveFile is used to remove a file. The user must have write and execute permission for
the directory where the file resides and the use... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 360 | 1 Instructions
1.128. RenameFile - Rename a file
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1.128. RenameFile - Rename a file
Usage
RenameFile is used to give a new name to an existing file. It can also be used to move a file
from one place to another in the directory ... |
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1.128. RenameFile - Rename a file
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Related information
For information about
See
Make a directory
MakeDir - Create a new directory on page
218
Remove a directory
RemoveDir - Delete a directory on page 355
Remove a... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 362 | 1 Instructions
1.129. Reset - Resets a digital output signal
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1.129. Reset - Resets a digital output signal
Usage
Reset is used to reset the value of a digital output signal to zero.
Basic examples
Basic examples of the instruc... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 363 | 1 Instructions
1.130. ResetPPMoved - Reset state for the program pointer moved in manual mode
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1.130. ResetPPMoved - Reset state for the program pointer moved in manual mode
Usage
ResetPPMoved reset state for the program pointe... |
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1.131. ResetRetryCount - Reset the number of retries
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1.131. ResetRetryCount - Reset the number of retries
Usage
ResetRetryCount is used to reset the number of retries that has been done from an error
handler. Th... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 365 | 1 Instructions
1.132. RestoPath - Restores the path after an interrupt
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1.132. RestoPath - Restores the path after an interrupt
Usage
RestoPath is used to restore a path that was stored at a previous stage using the instruction... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 366 | 1 Instructions
1.132. RestoPath - Restores the path after an interrupt
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the original movement once again. The weld then automatically restarts, meaning that the
robot is first reversed along the path before welding starts and or... |
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1.133. RETRY - Resume execution after an error
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1.133. RETRY - Resume execution after an error
Usage
The RETRY instruction is used to resume program execution after an error starting with (re-
executing) the ins... |
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1.134. RETURN - Finishes execution of a routine
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1.134. RETURN - Finishes execution of a routine
Usage
RETURN is used to finish the execution of a routine. If the routine is a function then the
function value is ... |
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1.134. RETURN - Finishes execution of a routine
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Program execution
The result of the RETURN instruction may vary depending on the type of routine it is used in:
•
Main routine: If a program has run mode single c... |
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1.135. Rewind - Rewind file position
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1.135. Rewind - Rewind file position
Usage
Rewind sets the file position to the beginning of the file.
Basic examples
Basic examples of the instruction Rewind are illustrat... |
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1.135. Rewind - Rewind file position
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WHILE bindata <> EOF_BIN DO
TPWrite " " \Num:=bindata; bindata := ReadBin(dev);
ENDWHILE
! Close the binary file
Close dev;
The instruction Rewind is used to rewind a binary... |
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1.136. RMQEmptyQueue - Empty RAPID Message Queue
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1.136. RMQEmptyQueue - Empty RAPID Message Queue
Usage
RMQEmptyQueue empties the RAPID Message Queue (RMQ) in the task that is executing the
instruction.
Basic ex... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 373 | 1 Instructions
1.136. RMQEmptyQueue - Empty RAPID Message Queue
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Receive message from RMQ
RMQReadWait - Returns message from
RMQ on page 383 .
Get the first message from a RAPID Message
Queue
RMQGetMessage - Get an RMQ message o... |
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1.137. RMQFindSlot - Find a slot identity from the slot name
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1.137. RMQFindSlot - Find a slot identity from the slot name
Usage
RMQFindSlot ( RAPID Message Queue Find Slot )... |
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1.137. RMQFindSlot - Find a slot identity from the slot name
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Related information
For information about
See
Description of the RAPID Message Queue
functionality
Application ma... |
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1.138. RMQGetMessage - Get an RMQ message
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1.138. RMQGetMessage - Get an RMQ message
Usage
RMQGetMessage ( RAPID Message Queue Get Message ) is used to fetch the first RMQ
me... |
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1.138. RMQGetMessage - Get an RMQ message
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More examples
More examples of how to use the instruction RMQGetMessage are illustrated below.
Example 1
RECORD mydatatype
int x;
... |
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1.138. RMQGetMessage - Get an RMQ message
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Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variabl... |
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1.138. RMQGetMessage - Get an RMQ message
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RMQ Message
rmqmessage - RAPID Message Queue
message on page 1173
For information about
See
Continued
1 Instructions
1.139. RMQGetM... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 380 | 1 Instructions
1.139. RMQGetMsgData - Get the data part from an RMQ message
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1.139. RMQGetMsgData - Get the data part from an RMQ message
Usage
RMQGetMsgData ( RAPID Message Queue Get Messa... |
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1.139. RMQGetMsgData - Get the data part from an RMQ message
FlexPendant Interface, PC Interface, or Multitasking
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378
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More examples
More examples of how to use the instruction RMQGetMsgData are illustrated below.
Example 1
RECORD... |
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1.139. RMQGetMsgData - Get the data part from an RMQ message
FlexPendant Interface, PC Interface, or Multitasking
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Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler.... |
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1.140. RMQGetMsgHeader - Get header information from an RMQ message
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1.140. RMQGetMsgHeader - Get header information from an RMQ message
Usage
RMQGetMsgHeader ( RAPID Message... |
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1.140. RMQGetMsgHeader - Get header information from an RMQ message
FlexPendant Interface, PC Interface, or Multitasking
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[\UserDef ]
User Defined data
Data type: num
Variable for storage of user-defined data that is copied fro... |
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1.140. RMQGetMsgHeader - Get header information from an RMQ message
FlexPendant Interface, PC Interface, or Multitasking
3HAC 16581-1 Revision: J
382
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IF header.datatype = "mydatatype" AND header.ndim = 0 THEN
! Copy the data from the message
RMQGetMsgData ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 386 | 1 Instructions
1.141. RMQReadWait - Returns message from RMQ
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1.141. RMQReadWait - Returns message from RMQ
Usage
RMQReadWait is used in synchronous mode to receive any type of message.
Basic examples
A basic example of the ins... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 387 | 1 Instructions
1.141. RMQReadWait - Returns message from RMQ
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Example 2
PROC main()
VAR rmqmessage myrmqmsg;
FOR i FROM 1 TO 25 DO
RMQReadWait myrmqmsg \TimeOut:=30;
...
ENDFOR
ERROR
IF ERRNO = ERR_RMQ_TIMEOUT THEN
TPWrite "ERR_... |
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1.141. RMQReadWait - Returns message from RMQ
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rmqmessage data type
rmqmessage - RAPID Message Queue
message on page 1173 .
Send data to the queue of a RAPID task or
Robot Application Builder client
RMQSendMessag... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 389 | 1 Instructions
1.142. RMQSendMessage - Send an RMQ data message
FlexPendant Interface, PC Interface, or Multitasking
3HAC 16581-1 Revision: J
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1.142. RMQSendMessage - Send an RMQ data message
Usage
RMQSendMessage ( RAPID Message Queue Send Message ) is used to send d... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 390 | 1 Instructions
1.142. RMQSendMessage - Send an RMQ data message
FlexPendant Interface, PC Interface, or Multitasking
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[\UserDef ]
User Defined data
Data type: num
Data specifying user-defined information to the receiver of the SendData , i.e... |
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1.142. RMQSendMessage - Send an RMQ data message
FlexPendant Interface, PC Interface, or Multitasking
3HAC 16581-1 Revision: J
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ERROR
IF ERRNO = ERR_RMQ_INVALID THEN
! Handle destination client lost
WaitTime 1;
! Reconnect to Robot Application Builder c... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 392 | 1 Instructions
1.142. RMQSendMessage - Send an RMQ data message
FlexPendant Interface, PC Interface, or Multitasking
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Related information
For information about
See
Description of the RAPID Message Queue
functionality
Application manual - Robot... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 393 | 1 Instructions
1.143. RMQSendWait - Send an RMQ data message and wait for a response
FlexPendant Interface, PC Interface, or Multitasking
3HAC 16581-1 Revision: J
390
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1.143. RMQSendWait - Send an RMQ data message and wait for a response
Usage
With the RMQSendWait ( RAP... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 394 | 1 Instructions
1.143. RMQSendWait - Send an RMQ data message and wait for a response
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to terminate the waiting RMQSendWait instruction. Another demand to terminate the waiting
instruction ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 395 | 1 Instructions
1.143. RMQSendWait - Send an RMQ data message and wait for a response
FlexPendant Interface, PC Interface, or Multitasking
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Program execution
The instruction RMQSendWait sends data and waits for an answer from the client with ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 396 | 1 Instructions
1.143. RMQSendWait - Send an RMQ data message and wait for a response
FlexPendant Interface, PC Interface, or Multitasking
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More examples
More examples of how to use the instruction RMQSendWait are illustrated below.
Example 1... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 397 | 1 Instructions
1.143. RMQSendWait - Send an RMQ data message and wait for a response
FlexPendant Interface, PC Interface, or Multitasking
3HAC 16581-1 Revision: J
394
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Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 398 | 1 Instructions
1.143. RMQSendWait - Send an RMQ data message and wait for a response
FlexPendant Interface, PC Interface, or Multitasking
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Extract the header data from an
rmqmessage
RMQGetMsgHeader - Get header
information from an RMQ message ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 399 | 1 Instructions
1.144. Save - Save a program module
RobotWare - OS
3HAC 16581-1 Revision: J
396
© Copyright 2004-2010 ABB. All rights reserved.
1.144. Save - Save a program module
Usage
Save is used to save a program module.
The specified program module in the program memory will be saved with the original
(specified ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 400 | 1 Instructions
1.144. Save - Save a program module
RobotWare - OS
397
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
[\File]
Data type: string
When the file name is excluded in the argument \FilePath it must be specified with this
argument.
The argument \FilePath \File can only be omit... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 401 | 1 Instructions
1.144. Save - Save a program module
RobotWare - OS
3HAC 16581-1 Revision: J
398
© Copyright 2004-2010 ABB. All rights reserved.
Limitations
TRAP routines, system I/O events, and other program tasks cannot execute during the saving
operation. Therefore, any such operations will be delayed.
The save opera... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 402 | 1 Instructions
1.145. SCWrite - Send variable data to a client application
PC interface/backup
399
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.145. SCWrite - Send variable data to a client application
Usage
SCWrite ( Superior Computer Write ) is used to send the name, type, dimension, a... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 403 | 1 Instructions
1.145. SCWrite - Send variable data to a client application
PC interface/backup
3HAC 16581-1 Revision: J
400
© Copyright 2004-2010 ABB. All rights reserved.
Error handling
The SCWrite instruction will return an error in the following cases:
The variable could not be sent to the client. This can have t... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 404 | 1 Instructions
1.145. SCWrite - Send variable data to a client application
PC interface/backup
401
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Using RobotWare 5.0 or later
The RAPID program looks as follows:
xx0500002139
Continued
1 Instructions
1.146. SearchC - Searches circularly using ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 405 | 1 Instructions
1.146. SearchC - Searches circularly using the robot
RobotWare - OS
3HAC 16581-1 Revision: J
402
© Copyright 2004-2010 ABB. All rights reserved.
1.146. SearchC - Searches circularly using the robot
Usage
SearchC ( Search Circular ) is used to search for a position when moving the tool center point
(TCP... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 406 | 1 Instructions
1.146. SearchC - Searches circularly using the robot
RobotWare - OS
403
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Arguments
SearchC [\Stop] | [\PStop] | [\SStop] | [\Sup] Signal [\Flanks]
SearchPoint CirPoint ToPoint [\ID] Speed [\V] | [\T] Tool
[\WObj] [\Corr]
[ \Stop ]
S... |
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